Warehouse having a load handling elevator with position-sensing means movable relation thereto

ABSTRACT

A material storage and handling system has a transfer vehicle and a stacker vehicle. The transfer vehicle is adapted to receive and carry the stacker vehicle and the stacker vehicle is adapted to carry and transfer material between the transfer vehicle and selected bins in a multiaisle, multibin storage structure. The stacker vehicle has an elevator with a laterally movable platform for moving material into and out of the bins. The position of the elevator to the bins is sensed by reed relays on the elevator that sense magnetic strips on the elevator superstructure that are coded to indicate respective bins. To pick up or deposit the material when the lateral platform is extended, the reed relays are selectively raised or lowered a small amount to effect a vertical shift of the platform for picking up or depositing material.

United States Patentv [72] Inventors Arthur R. Burch;

Charles E. Bates, Battle Creek, Mich. [21 Appl. No. 782,559 [22] Filed 10, I968 4 Division of Ser. No. 543,229, Apr. 18, 1966. [45] Patented Apr. 20, 1971 [73] Assignee Clark Equipment Company [54] WAREHOUSE HAVING A LOAD HANDLING ELEVATOR WITH POSITION-SENSING MEANS MOVABLE RELATION THERETO 11 Claims, 38 Drawing Figs.

[52] U.S. Cl 2l4/l6.4, 187/29 [51] Int. Cl 865g 1/06 [50] Field of Search 214/164, 16.42; 187/29; 3l8/(Inquired) [56] References Cited UNITED STATES PATENTS 2,988,237 6/1961 Devol 214/1 1 3,402,836 9/1968 Debreyet a1. 214/l6.4(2)

FOREIGN PATENTS 1,008,071 10/ 1965 Great Britain Primary ExaminerGerald M. Forlenza Assistant Examiner-Raymond B. Johnson Attorneys-Kenneth C. Witt, John C. Wiessler, Robert H.

Johnson and Lewis J. Lamm ABSTRACT: A material storage and handling system has a transfer vehicle and a stacker vehicle. The transfer vehicle is adapted to receive and carry the stacker vehicle and the stacker vehicle is adapted to carry and transfer material between the transfer vehicle and selected bins in a multiaisle, multibin storage structure. The stacker vehicle has an elevator with a laterally movable platform for moving material into and out of the bins. The position of the elevator to the bins is sensed by reed relays on the elevator that sense magnetic strips on the elevator superstructure that are coded to indicate respective bins. To pick up or deposit the material when the lateral platform is extended, the reed relays are selectively raised or lowered a small amount to effect a vertical shift of the platform for picking up or depositing material.

PATENTEDAPREMHYI $575,305

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1. A material handling apparatUs comprising: a structure forming a plurality of vertically arranged bins; an elevator vertically movable relative to the structure having a platform laterally movable into and out of the bins for selectively depositing a load in a bin or withdrawing a load from a bin; a drive means for vertically moving the elevator and laterally moving the platform; control means including a sensing means for selectively producing a signal when the elevator is at depositing or withdrawing positions opposite a selected bin in the structure; said control means being connected with the drive means and responsive to the signal for controlling the drive means to stop the elevator selectively at an upper vertical position for depositing a load or at a lower vertical position for withdrawing a load, said control means also including sequence means for causing said drive means to move said platform laterally into the bin when one of said vertical positions is reached, shift means connected with the sensing means to cause the drive means to move the elevator to the other of said vertical positions when the platform reaches its inward position, said sequence means causing said drive means to move said platform laterally out of the bin when the elevator reaches the other of said vertical positions.
 2. A material handling apparatus according to claim 1 wherein said sensing means comprises signal initiating devices mounted at selected positions relative to respective bins, and a responding device mounted to move with the elevator and having a sensor adapted to coact with a signal initiating device for producing the signal with said signal indicating that the elevator is opposite the selected bin in said upper or lower position when said sensor of the responding device is adjacent the signal initiating device corresponding to the selected bin; and wherein said shift means is operatively connected with the responding device and adapted to effectively move the sensor of the responding device in a vertical direction relative to the elevator.
 3. A material handling apparatus according to claim 2 wherein said signal initiating devices are coded groups of elements of magnetic material selectively positioned near respective corresponding bins and said responding device is a group of sensors in the form of magnetically responsive reed relays.
 4. A material handling apparatus comprising: a structure forming a plurality of vertically arranged bins; an elevator vertically movable relative to the structure having a platform laterally movable into and out of the bins for selectively depositing a load in a bin or withdrawing a load from a bin; a drive means for vertically moving the elevator and laterally moving the platform; control means including a position sensing device mounted to move with the elevator and adapted to selectively produce a signal when the elevator is in a depositing or withdrawing position relative to a selected bin of the structure said control means being responsive to the signal for controlling the drive means to stop the drive means, said control means also including a shift means for effectively moving the sensing device relative to the elevator between a selected upper and lower limit of travel corresponding to the depositing and withdrawing positions respectively, selector means connected with the shift means for presetting the sensing device for depositing or withdrawing a load, said control means including sequence means for causing the drive means to move the platform laterally into the bin, said shift means being operative in response to a predetermined laterally extended position of said platform for changing the effective position of the sensing device from one of said limits to the other and thereby cause the drive means to move the elevator vertically to the other of said positions, said sequence means causing the drive means to move the platform laterally out of the bin when the elevator is moved to the other of said positions.
 5. A material handling apparatus according to Claim 4 wherein said sensing device comprises signal initiating devices mounted at selected positions relative to respective bins, and a responding device mounted on the elevator and having a sensor adapted to coact with a signal initiating device for producing the signal with said signal indicating that the elevator is opposite the selected bin in said depositing or withdrawing position when said sensor of the responding device is adjacent the signal initiating device corresponding to the selected bin; and wherein said shift means is operatively connected with the responding device and adapted to effectively move the sensor of the responding device in a vertical direction relative to the elevator.
 6. A material handling apparatus according to claim 5 wherein said signal initiating devices are code groups of elements of magnetic material selectively positioned near respective corresponding bins and said responding device is a group of sensors in the form of magnetically responsive reed relays.
 7. A material handling apparatus according to claim 6 wherein said apparatus comprises a vehicle with a superstructure for supporting the elevator and said groups of elements are mounted on said superstructure at selected positions corresponding to respective bins.
 8. A material handling apparatus comprising: a structure forming a plurality of bins arranged in a plurality of vertical columns along an aisle; an elevator supported by a vehicle movable within the aisle, vertically movable relative to the structure, and having a platform laterally movable into and out of the bins for selectively depositing a load in a bin or withdrawing a load from a bin, a drive means for moving the vehicle, for vertically moving the elevator, and for laterally moving the platform; a means for controlling the drive means to stop the vehicle at selected positions within the aisle; control means including a position sensing device mounted to move with the elevator adapted to selectively produce a signal when the elevator is in a depositing or withdrawing position relative to a selected bin; said control means being responsive to the signal for controlling the drive means to stop the elevator; and said control means also including a shift means for moving part of the sensing device relative to the elevator between a selected upper and lower limit of travel corresponding to the depositing and withdrawing position respectively, selector means connected with the shift means for presetting the sensing device for depositing or withdrawing a load, said control means including sequence means for causing the drive means to move the platform laterally into the bin when the elevator is stopped at one of said positions, said shift means being operative in response to a predetermined laterally extended position of said platform for moving said part of the sensing device from one of said limits to the other and thereby cause the drive means to move the elevator to the other of said positions, said sequence means causing the drive means to move the platform laterally out of the bin when the elevator is moved to the other of said positions.
 9. A material handling apparatus according to claim 8 wherein said sensing device comprises signal initiating devices mounted at selected positions relative to respective bins, and a responding device mounted on the elevator and having a sensor adapted to coact with a signal initiating device for producing the signal with said signal indicating that the elevator is opposite the selected bin in said depositing or withdrawing position when said sensor of the responding device is adjacent the signal initiating device corresponding to the selected bin; and wherein said shift means moves the responding device relative to the elevator.
 10. A material handling apparatus according to claim 9 wherein said signal initiating devices are coded groups of elements of magnetic material positioned near respective corresponding bins and said responding device is a group of sensors in the Form of magnetically responsive reed relays.
 11. A material handling apparatus according to claim 10 wherein said vehicle has a superstructure for supporting the elevator and said groups of elements are mounted on said superstructure at selected positions corresponding to respective bins. 